public static void emgStop() //紧急停止
{
if (RFIDControl.dmc_check_done_multicoor(mInpterplaType.card_num, mInpterplaType.car_num) == RUN)
{
RFIDControl.dmc_stop_multicoor(0, 0, 1);
}
RFIDControl.dmc_stop(0, 0, DIRECT_STOP); //直接停止
RFIDControl.dmc_stop(0, 1, DIRECT_STOP); //直接停止
RFIDControl.dmc_stop(0, 2, DIRECT_STOP); //直接停止
mInpterplaType.run_flag = STOP;
startGoHome = 0;
}
public static void checkInputStatus()
{
ulong axisStatus;
while (started)
{
Thread.Sleep(100);
if (mServoIo.check_flag != 0)
{
return;
}
//X轴
axisStatus = RFIDControl.dmc_axis_io_status(0, 0);//读取轴的状态
mServoIo.servo1_alm = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ALM);
mServoIo.servo1_el_b = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B);
mServoIo.servo1_el_f = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F);
mServoIo.servo1_emg = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EMG);
mServoIo.servo1_org = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG);
mServoIo.servo1_ez = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EZ);
mServoIo.servo1_inp = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_INP);
mServoIo.servo1_rdy = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_RDY);
mServoIo.servo1_home_flag = mAxis[0].m_home_flag; //原点状态
//Y轴
axisStatus = RFIDControl.dmc_axis_io_status(0, 1); //读取轴的状态
mServoIo.servo2_alm = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ALM);
mServoIo.servo2_el_b = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_B);
mServoIo.servo2_el_f = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EL_F);
mServoIo.servo2_emg = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EMG);
mServoIo.servo2_org = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_ORG);
mServoIo.servo2_ez = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_EZ);
mServoIo.servo2_inp = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_INP);
mServoIo.servo2_rdy = (int)getStatus(axisStatus, (int)AxisStatus.MOTOR_RDY);
mServoIo.servo2_home_flag = mAxis[1].m_home_flag;//原点状态
//not exist z axis
//Z轴
//各个轴的运动状态
mAxis[0].m_run_status = (ushort)RFIDControl.dmc_check_done(mAxis[0].m_card_num, mAxis[0].m_axis_num);
mAxis[1].m_run_status = (ushort)RFIDControl.dmc_check_done(mAxis[1].m_card_num, mAxis[1].m_axis_num);
mAxis[0].m_positon = RFIDControl.dmc_get_encoder(mAxis[0].m_card_num, mAxis[0].m_axis_num);
mAxis[1].m_positon = RFIDControl.dmc_get_encoder(mAxis[1].m_card_num, mAxis[1].m_axis_num);
mInpterplaType.run_flag = RFIDControl.dmc_check_done_multicoor(mInpterplaType.card_num, mInpterplaType.car_num);
if ((RFIDControl.dmc_read_inbit(0, 0) == LOW) && (key_emg_press_flag == false))
{
key_emg_press_flag = true;
emgStop();
}
else
{
key_emg_press_flag = false;
}
}
}